* **Dynamic Full-Window Scaling**: Charts in the Performance and Solver panels now expand to fill the entire pane, automatically arranging side-by-side or stacked based on window orientation to eliminate scrollbars.
* **Responsive Decorators**: Added reusable C++ ImPlot helper functions that auto-hide titles, legends, and tick labels when the plot surface is small.
* **Cleaner Visualization**: Refined chart titles (e.g., "CPU msec vs frame", "Convergence vs iter") and removed redundant axis labels for improved scannability.
These changes were based on the plot behavior of //third_party/mujoco/src/experimental/py/sample/implot.py This is an incremental improvement, we can make the plots even nicer in future.
PiperOrigin-RevId: 906351914
Change-Id: I8cb19c19bf807f0107c717066250a71bcf7e325f
- Reorder Physics section, move Actuator Groups to end.
- Rename "Physics Settings" → "Physics", "Rendering Settings" → "Rendering".
- Reduce IndentSpacing from 20 to 6.
- Reduce FramePadding Y from 6 to 2 for narrower buttons and popups.
- Remove explicit Unindent/Indent overrides in Rendering and Visibility Groups
sections so buttons are naturally indented under their tree nodes.
- Dynamically adjust convergence and counts plot X-axis limits based on actual
solver iterations instead of hardcoded 20.
PiperOrigin-RevId: 906244477
Change-Id: Ic3e6e6e793395158c8cb6692af885884ca3f7f50
Texture IDs were assigned using textures_.size() + 1, which is not monotonic: after erasures the map shrinks and previously used IDs can be reassigned to new textures. This causes multiple ImGui images to reference the same underlying Filament texture, rendering them all with the same pixel data. This fix replaces the size-based scheme with a monotonically increasing counter (next_tex_id_) that never reuses IDs.
PiperOrigin-RevId: 906214496
Change-Id: I5a388861ad9565c8e00e27b39cc9c76c9750ca1e
This change modifies the Warp JAX FFI to register callbacks for both CUDA and CPU platforms, allowing Warp kernels to be launched on CPU devices. MJX's io.py is updated to allow Warp to use CPU devices if no CUDA GPU is available. Tests are adjusted to no longer skip when CUDA GPUs are absent. A minor fix for sorting precision in test_util.py is also included.
Kristian Hartikainen
- https://github.com/google-deepmind/mujoco/pull/2948
Github issue - https://github.com/google-deepmind/mujoco/issues/2947
PiperOrigin-RevId: 906018844
Change-Id: I9c026b4a4e2a0276d5d3af3954fd027cf75b6d7a
* Remove the explicit io.Fonts->Build() call from InitImGui, which was deprecated in Dear ImGui v1.92.0. With ImGuiBackendFlags_RendererHasTextures already set, the font atlas is now built lazily by ImGui and communicated to backends via the ImTextureStatus_WantCreate protocol.
* Add proper texture shutdown in ~ImguiBridge by iterating ImGui::GetPlatformIO().Textures and destroying all tracked textures, per the //third_party/dear_imgui/docs/BACKENDS.md instructions.
* Remove the "OK but missing" and "WantUpdates but missing" texture recovery hacks from Update(). These handled a state where ImGui thought textures were alive but the Filament-side storage had been torn down. With proper destruction acknowledgement (SetStatus(Destroyed) + SetTexID(Invalid)), ImGui will now transition destroyed textures to WantCreate on the next frame, and the normal creation path handles it cleanly.
PiperOrigin-RevId: 905886622
Change-Id: Ic449eeaf083740a67eae9c637fb53546a6192b28
Always execute the engine in non-threading (wasm) builds.
And stop rendering if any beginFrame call returns false.
PiperOrigin-RevId: 905000139
Change-Id: I0a6f06a07a8fc0ab0251a67be13a9d170d4a905d
This is a combination of minor tweaks to the existing Studio WASM application, CMake cleanup to make it buildable, and integration with GitHub Actions for deployment.
The new features added are drag-and-drop, model specification through `?model=` URL parameter, HTTP and HTTPS resource provider, and a user-visible loading message while the model is loading.
PiperOrigin-RevId: 904594610
Change-Id: I3a73b1ca0fcd6fc9ba192469942b2dab010a9308
The filament library provides APIs for creating the low-level
objects such as meshes and textures. The compat library provides
the high-level compatibility layer between mjvScene and the core
library.
PiperOrigin-RevId: 904504900
Change-Id: Ida1aecab4b9a8aefbbf6b0a0c4ba7ff164864b8e
Refactor FilamentContext to allow multiple render requests to
be submitted onto a single RenderTarget. The main scene and the
ux scene are then submitted as two separate requests that share
the same target, resulting in a single, composited render.
PiperOrigin-RevId: 904324801
Change-Id: I7c47ec4f8d159320612fa33384c01e8db3414daa
Do not allow a mix of `elastic2d != none` with `dof = trilinear` since the latter assumes 3d elasticity.
Also, do not assume that `flex_interp > 0` in the engine. This will enable to use, e.g., `flex_interp = -1` to mean a linear surface finite element instead of a 3d finite element which is currently identified with `flex_interp = 1`.
PiperOrigin-RevId: 903852035
Change-Id: Ia6290b4a05e9e510ffb7f36d141cd525b40d3110
The reference node positions and the positions used for computing stiffness eigenvectors were previously stored in world frame. However, the runtime expects these quantities in the unrotated local frame. This caused non-zero constraint residuals and simulation instability when the grid was rotated — either by the parent body's initial orientation, or by the flexcomp's own frame attributes.
Rather than tracking each rotation source individually, this change extracts the total grid rotation directly from the cell geometry. All node positions are then un-rotated before computing the stiffness matrix.
PiperOrigin-RevId: 903232388
Change-Id: If877af89025ce1e61a76b38c29403d593d892749
Previously specs that were attached to some parent spec would resolve its asset paths relative to the modelfiledir of the parent spec. This means path resolution would change depending on the source of the parent spec. Instead, this change makes asset file path resolution relative to the "owning spec" i.e. the spec where the asset was created.
This enables workflows such as loading a parent spec via resource provider, then loading a child spec via `from_zip` or in memory providing `spec.assets` and resolution will work as intended.
PiperOrigin-RevId: 903207910
Change-Id: Ia58020ab372a3ceadf31e804d145e2ae53d8e5f9
The previous implementation only checked whether grid cells contained mesh vertices to determine occupancy. For coarse meshes with large faces, most cells were incorrectly marked empty and pruned—even cells fully inside the object volume. This change improves the algorithm by:
- Marking cells that overlap with any mesh element's AABB as non-empty.
- For surface meshes, running a flood-fill from the grid boundary through non-overlapping cells to identify truly exterior cells. This preserves empty interior cells, preventing incorrect pruning of the object's core.
- For volumetric meshes, defaulting to element-AABB overlap detection directly.
Limitations for non-watertight meshes: If the mesh contains holes larger than the grid cell size, the flood-fill will leak into the interior. In this case, all non-element cells (including interior ones) will be marked as empty.
PiperOrigin-RevId: 902675331
Change-Id: I5a84303a33d5ca7436213e7ce9aca3806c9f5a0f
Also allow multiple Meshes to be assigned at once rather than one at a
time.
This simplifies both the usage and implementation of Renderable.
PiperOrigin-RevId: 902665683
Change-Id: I23ff365a54fd6a3814ed3452b1e094ae9f698a1b
Add clamping to slider values in both ImGui widgets and mjUI to ensure they remain within the defined min/max ranges, preventing potential floating point inaccuracies from causing values to slightly exceed the bounds.
PiperOrigin-RevId: 902660458
Change-Id: Ia153ae7907f07b890f2b5ac2e3a4be93ecae7bd3
This overload allows `StringToVector` to accept a `char*` argument when parsing into a `std::vector<std::string>`, by converting the `char*` to `std::string` before processing.
PiperOrigin-RevId: 902611443
Change-Id: I2048918f915c1bac74522f368ea28f23ca9a6885
Matija Kecman